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US 11,591,012 B2Granted
Vehicle trajectory prediction using road topology and traffic participant object states
AssigneeRobert Bosch GmbH
InventorKrishna Mohan Chinni
Life of this patent
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Abstract
System, method, and device for controlling a vehicle. In one example, the system includes an electronic processor configured to capture, via a camera, a first image, determine, within the first image, a road traffic factor, and generate, based on sensor information from one or more sensors of the vehicle, a second image depicting an environment surrounding the vehicle. The second image includes the road traffic factor. The electronic processor is also configured to, determine, based on the detected road traffic factor and the second image, a predicted trajectory of a traffic participant proximate to the vehicle, and generate a steering command for the vehicle based on the predicted trajectory.
Claims17
A system for controlling a vehicle, the system comprising:
- an electronic processor configured to
- capture, via a camera, a first image;
- determine, within the first image, a road traffic factor;
- generate, based on sensor information from one or more sensors of the vehicle and the first image, a second image symbolically depicting a simplified environment surrounding the vehicle corresponding to an actual environment surrounding the vehicle, the second image omitting a first traffic participant included in the first image, the second image including the road traffic factor and a symbolic pattern-coded or color-coded visual representation indicative of a respective designated direction of traffic of a lane of traffic;
- determine, based on the detected road traffic factor and the second image, a predicted trajectory of a second traffic participant proximate to the vehicle;
- and
- generate a steering command for the vehicle based on the predicted trajectory wherein the second image includes a historic trajectory of the second traffic participant, the historic trajectory being visually represented in the second image as a gradient of a plurality of color-coded or pattern-coded symbols, each of the plurality of symbols being of a different respective color or pattern, wherein a lightest respective color or pattern of the respective symbol of the plurality of color-coded symbols represents an earliest previous position of the second traffic participant.
4 more elements
A device for controlling a vehicle, the device comprising:
- one or more sensors, including a camera, communicatively coupled to an electronic processor, the electronic processor configured to
- capture, via the camera, a first image;
- determine, within the first image, a road traffic factor;
- generate, based on sensor information from the one or more sensors of the vehicle and the first image, a second image symbolically depicting a simplified environment surrounding the vehicle corresponding to an actual environment surrounding the vehicle, the second image omitting a first traffic participant included in the first image, the second image including the road traffic factor and a symbolic pattern-coded or color-coded visual representation indicative of a respective designated direction of traffic of a lane of traffic;
- determine, based on the detected road traffic factor and the second image, a predicted trajectory of a second traffic participant proximate to the vehicle;
- and
- generate a steering command for the vehicle based on the predicted trajectory wherein the second image includes a historic trajectory of the second traffic participant, the historic trajectory being visually represented in the second image as a gradient of a plurality of color-coded or pattern-coded symbols, each of the plurality of symbols being of a different respective color or pattern, wherein a lightest respective color or pattern of the respective symbol of the plurality of color-coded symbols represents an earliest previous position of the second traffic participant.
4 more elements
A method for controlling a vehicle, the method comprising:
- capturing, via a camera, a first image;
- determining, within the first image, a road traffic factor;
- generating, based on sensor information from one or more sensors of the vehicle and the first image, a second image symbolically depicting a simplified environment surrounding the vehicle corresponding to an actual environment surrounding the vehicle, the second image omitting a first traffic participant included in the first image, the second image including the road traffic factor and a symbolic pattern-coded or color-coded visual representation indicative of a designated direction of traffic of a lane of traffic;
- determining, based on the detected road traffic factor and the second image, a predicted trajectory of a second traffic participant proximate to the vehicle;
- and
- generating a steering command for the vehicle based on the predicted trajectory wherein the second image includes a historic trajectory of the second traffic participant, the historic trajectory being visually represented in the second image as a gradient of a plurality of color-coded or pattern-coded symbols, each of the plurality of symbols being of a different respective color or pattern, wherein a lightest respective color or pattern of the respective symbol of the plurality of color-coded symbols represents an earliest previous position of the second traffic participant.
3 more elements
Dependencies are inferred from the claim text.